version: 66.03
glider: 16
mission: 9
dive: 231
start: 7 25 108 14 24 51
data:
$ID,16
$MISSION,9
$DIVE,231
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,557.32159
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2098035.8
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,78
$PITCH_MAX,3345
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,293
$ROLL_MAX,3771
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,509
$VBD_MAX,3836
$C_VBD,2781
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,100
$AH0_10V,61.200001
$PRESSURE_YINT,-20.434687
$PRESSURE_SLOPE,0.0001162269
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,20
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043329173
$SEABIRD_T_H,0.00063270959
$SEABIRD_T_I,2.426896e-05
$SEABIRD_T_J,2.5701047e-06
$SEABIRD_C_G,-9.820549
$SEABIRD_C_H,1.0992489
$SEABIRD_C_I,-0.00098207768
$SEABIRD_C_J,0.00017122706
$GPS1,141538,6349.019,-1300.497,36,1.1,36,-12.4
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.3
$GPS2,142432,6349.118,-1300.471,10,1.1,15,-12.4
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,default
$TGT_LATLONG,62.000,-6.800
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.063,-0.212
$KALMAN_X,-156115.9,12.1,3.6,-35086.5,18146.7
$KALMAN_Y,22619.4,-3049.0,-1719.4,156073.3,43365.0
$MHEAD_RNG_PITCHd_Wd,180.8,7122268,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.85,-146.6,0.0,0.0,0,143,0.00,0.00,-116.60,0.000,2,0.000,0.000,68,2230,2893
$GC,146,-0.85,-146.6,3.6,-2.9,6,177,11.43,2.62,-12.27,0.000,4,0.168,0.071,2107,820,3381
$GC,287,-0.68,-146.6,22.6,-12.3,12,292,0.22,2.55,0.00,0.000,6,0.094,0.046,2152,2233,3381
$GC,609,-0.59,-146.6,56.6,-10.5,28,613,0.00,2.60,0.00,0.000,4,0.000,0.066,2151,3639,3381
$GC,681,-0.53,-146.6,65.3,-12.2,31,686,0.15,2.55,0.00,0.000,6,0.096,0.048,2180,2221,3381
$GC,999,-0.53,-146.6,92.4,-7.2,46,1004,0.00,2.65,0.00,0.000,4,0.000,0.066,2180,3640,3382
$GC,1040,-0.53,-146.6,95.5,-7.5,48,1044,0.00,2.55,0.00,0.000,6,0.000,0.047,2180,2223,3381
$GC,1367,-0.53,-146.6,118.2,-7.4,64,1371,0.00,2.65,0.00,0.000,4,0.000,0.067,2180,3641,3381
$GC,1407,-0.53,-146.6,121.2,-7.4,66,1411,0.00,2.53,0.00,0.000,6,0.000,0.048,2180,2230,3382
$GC,1734,-0.53,-146.6,144.5,-7.2,82,1738,0.00,2.65,0.00,0.000,4,0.000,0.069,2180,3647,3382
$GC,1774,-0.58,-146.6,147.4,-6.8,84,1778,0.00,2.53,0.00,0.000,6,0.000,0.048,2180,2230,3382
$GC,2101,-0.58,-146.6,170.9,-7.1,100,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2231,3382
$GC,2409,-0.58,-146.6,191.9,-6.5,115,2414,0.00,2.65,0.00,0.000,4,0.000,0.071,2180,3646,3381
$GC,2466,-0.64,-146.6,195.8,-7.0,117,2472,0.00,2.55,0.00,0.000,6,0.000,0.049,2180,2226,3382
$GC,2781,-0.64,-146.6,215.8,-6.3,133,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2226,3382
$GC,3091,-0.68,-146.6,235.0,-5.9,148,3096,0.15,2.65,0.00,0.000,4,0.044,0.071,2134,3639,3382
$GC,3155,-0.58,-146.6,240.2,-8.5,151,3160,0.17,2.55,0.00,0.000,6,0.087,0.050,2169,2225,3382
$GC,3482,-0.58,-146.6,261.7,-6.5,167,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2225,3381
$GC,3792,-0.58,-146.6,282.1,-6.9,182,3796,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3640,3381
$GC,3847,-0.58,-146.6,286.4,-7.7,184,3853,0.00,2.50,0.00,0.000,6,0.000,0.049,2169,2236,3381
$GC,4162,-0.58,-146.6,310.1,-7.9,200,4166,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,3638,3381
$GC,4201,-0.58,-146.6,313.5,-9.6,202,4206,0.00,2.55,0.00,0.000,6,0.000,0.049,2169,2222,3381
$GC,4529,-0.58,-146.6,338.4,-7.6,218,4533,0.00,2.67,0.00,0.000,4,0.000,0.071,2169,3646,3380
$GC,4561,-0.58,-146.6,341.2,-8.5,219,4567,0.00,2.55,0.00,0.000,6,0.000,0.050,2169,2225,3381
$GC,4877,-0.58,-146.6,362.6,-6.5,235,4881,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3638,3381
$GC,4910,-0.58,-146.6,364.9,-7.0,236,4916,0.00,2.53,0.00,0.000,6,0.000,0.050,2169,2233,3380
$GC,5226,-0.58,-146.6,385.8,-6.8,252,5230,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3645,3380
$GC,5258,-0.58,-146.6,388.3,-7.5,253,5264,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2227,3380
$GC,5574,-0.58,-146.6,410.2,-7.2,269,5579,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3639,3380
$GC,5608,-0.58,-146.6,412.9,-7.9,270,5614,0.00,2.53,0.00,0.000,6,0.000,0.051,2169,2228,3380
$GC,5924,-0.58,-146.6,435.5,-7.2,286,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2228,3380
$GC,6233,-0.58,-146.6,459.0,-7.8,301,6238,0.00,2.62,0.00,0.000,4,0.000,0.071,2169,3638,3380
$GC,6278,-0.58,-146.6,462.8,-8.7,303,6282,0.00,2.53,0.00,0.000,6,0.000,0.050,2169,2230,3380
$GC,6598,-0.58,-146.6,486.0,-7.1,319,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3380
$GC,6908,-0.58,-146.6,505.6,-6.1,334,6912,0.00,2.62,0.00,0.000,4,0.000,0.072,2169,3645,3379
$GC,6963,-0.58,-146.6,509.5,-6.4,336,6969,0.00,2.55,0.00,0.000,6,0.000,0.048,2169,2222,3379
$GC,7279,-0.58,-146.6,527.9,-5.5,352,7283,0.00,2.65,0.00,0.000,4,0.000,0.071,2169,3640,3379
$GC,7324,-0.58,-146.6,530.2,-5.5,354,7328,0.00,2.53,0.00,0.000,6,0.000,0.049,2169,2230,3379
$GC,7645,-0.58,-146.6,544.1,-4.3,370,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2231,3379
$GC,7954,-0.58,-146.6,560.4,-5.8,385,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2230,3379
$GC,8263,-0.58,-146.6,579.6,-7.3,400,8268,0.00,2.65,0.00,0.000,4,0.000,0.073,2169,3645,3379
$GC,8308,-0.58,-146.6,583.6,-9.2,402,8312,0.00,2.53,0.00,0.000,6,0.000,0.050,2169,2228,3379
$GC,8628,-0.58,-146.6,612.2,-8.7,418,8633,0.00,2.58,0.00,0.000,4,0.000,0.063,2169,819,3378
$GC,8651,-0.65,-146.6,614.2,-9.2,419,8656,0.00,2.55,0.00,0.000,6,0.000,0.050,2169,2233,3379
$GC,8973,-0.70,-146.6,640.4,-7.0,435,8977,0.00,2.62,0.00,0.000,4,0.000,0.074,2169,3642,3378
$GC,9022,-0.70,-146.6,643.4,-6.5,437,9026,0.00,2.55,0.00,0.000,6,0.000,0.051,2169,2226,3378
$GC,9339,-0.76,-146.6,661.5,-5.3,452,9344,0.17,2.65,0.00,0.000,4,0.045,0.076,2121,3638,3377
$GC,9367,-0.66,-146.6,663.7,-7.8,453,9372,0.17,2.55,0.00,0.000,6,0.087,0.053,2155,2227,3377
$STATE,9618,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9618,begin apogee
$GC,9625,-0.31,0.0,679.2,6.2,465,9761,0.38,0.00,131.45,1.070,6,0.091,0.000,2231,2227,2781
$STATE,9762,end apogee,CONTROL_FINISHED_OK
$STATE,9762,begin climb
$GC,9765,0.85,146.6,685.2,0.0,472,9902,1.20,2.65,129.75,1.052,4,0.084,0.063,2480,829,2182
$GC,9996,0.88,174.2,676.9,5.2,482,10026,0.00,2.60,25.25,0.996,6,0.000,0.051,2480,2240,2070
$GC,10343,0.90,196.9,659.2,5.4,499,10371,0.00,2.72,21.27,0.985,4,0.000,0.074,2480,3653,1978
$GC,10402,0.98,222.7,656.2,5.3,501,10432,0.15,2.62,24.27,0.993,6,0.048,0.056,2522,2234,1871
$GC,10756,0.92,222.7,631.3,7.0,519,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2234,1870
$GC,11064,0.87,222.7,609.4,7.3,534,11066,0.17,0.00,0.00,0.000,6,0.087,0.000,2487,2234,1870
$GC,11372,0.93,222.7,590.3,6.4,549,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2234,1869
$GC,11682,0.99,234.1,571.2,5.7,564,11695,0.12,0.00,11.05,0.903,6,0.051,0.000,2524,2234,1826
$GC,11992,0.94,234.1,544.9,8.9,579,11993,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2234,1825
$GC,12300,0.94,234.1,519.4,8.0,594,12304,0.00,2.67,0.00,0.000,4,0.000,0.074,2524,3651,1826
$GC,12345,0.90,234.1,515.4,8.5,596,12350,0.15,2.58,0.00,0.000,6,0.087,0.054,2493,2240,1826
$GC,12666,0.90,234.1,491.9,7.0,612,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2240,1826
$GC,12975,0.90,234.1,470.9,6.7,627,12979,0.00,2.60,0.00,0.000,4,0.000,0.064,2493,822,1825
$GC,13008,0.90,234.1,468.7,6.4,628,13014,0.00,2.58,0.00,0.000,6,0.000,0.048,2492,2244,1825
$GC,13324,0.90,234.1,446.8,7.0,644,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2244,1825
$GC,13633,0.90,234.1,423.8,7.3,659,13634,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2244,1825
$GC,13943,0.90,234.1,403.4,6.1,674,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2244,1825
$GC,14252,0.92,249.8,386.0,5.6,689,14273,0.00,2.67,14.73,0.819,4,0.000,0.071,2493,3649,1762
$GC,14297,0.94,263.4,383.3,5.6,691,14319,0.00,2.60,13.05,0.796,6,0.000,0.054,2492,2236,1707
$GC,14629,0.95,277.1,365.1,5.6,707,14647,0.00,0.00,12.90,0.792,6,0.000,0.000,2492,2236,1651
$GC,14958,1.02,297.9,346.8,5.4,723,14980,0.12,0.00,19.20,0.802,6,0.049,0.000,2524,2236,1566
$GC,15287,1.02,297.9,320.8,8.3,739,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2236,1565
$GC,15596,1.02,297.9,291.7,9.3,754,15597,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2236,1566
$GC,15905,1.02,297.9,262.2,9.8,769,15909,0.00,2.65,0.00,0.000,4,0.000,0.070,2524,3656,1565
$GC,15932,1.02,297.9,259.3,10.8,770,15936,0.00,2.58,0.00,0.000,6,0.000,0.053,2525,2239,1565
$GC,16248,1.02,297.9,228.3,9.5,785,16249,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2239,1565
$GC,16557,1.02,297.9,198.9,9.3,800,16558,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2239,1565
$GC,16866,1.02,297.9,167.6,10.8,815,16870,0.00,2.62,0.00,0.000,4,0.000,0.068,2525,3650,1566
$GC,16884,1.02,297.9,165.7,10.3,816,16888,0.00,2.58,0.00,0.000,6,0.000,0.052,2525,2231,1566
$GC,17210,1.02,297.9,126.5,13.2,832,17215,0.00,2.58,0.00,0.000,4,0.000,0.063,2525,828,1566
$GC,17244,1.02,297.9,121.5,12.6,833,17250,0.00,2.55,0.00,0.000,6,0.000,0.047,2525,2249,1566
$GC,17562,1.02,297.9,73.6,14.4,849,17563,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2249,1566
$GC,17869,1.02,297.9,28.3,12.7,864,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2249,1566
$STATE,18155,end climb,SURFACE_DEPTH_REACHED
$STATE,18155,begin surface coast
$FINISH,0.7,1.027008
$STATE,18177,end surface coast,CONTROL_FINISHED_OK
$STATE,18177,begin surface
$SM_CCo,18199,124.35,0.598,0,0,508,557.32
$SM_GC,1.41,0.00,0.00,124.35,0.000,0.000,0.598,71,2251,508,-10.25,0.59,557.32
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1876
$TCM_TEMP,17.60
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.2,17.9
$ALTIM_BOTTOM_PING,650.1,39.1
$24V_AH,23.6,40.196
$10V_AH,10.2,20.489
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,25.400,145.400,402.925,124.350,0.000,36.207,54.516,246.595,8.750,0.000,0.000,15.504,1578.572,14124.910,700.887,1801.332,652.329,0.000,1631.392,0.000,1761.087,0.000,39.582
$DEVICE_MAMPS,167.973,75.933,1069.965,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.628,598.666,497.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44294,879
$CAP_FILE_SIZE,132702,0
$CFSIZE,260165632,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250708,193137,6346.745,-1302.028,36,1.1,42,-12.4